POWER DRIVEN WHEELCHAIR

• US 20120166020A1
• Filed: 03/05/2012
• Published: 06/28/2012
• Est. Priority Date: 08/31/2005
• Status: Active Grant

• Current Assignee: Invacare Corporation
• Original Assignee: Invacare Corporation
• Inventors: Mattes, John, Peters, Darryl, Jaenke, Bruce A., McCullar, Ricky J., Chopcinski, Gary E.
• Granted Patent: US 8,646,551 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: A61G 2203/14 Joysticks
• CPC Class Codes: A61G 2203/20 Displays or monitors
• CPC Class Codes: A61G 5/04 motor-driven A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023
• CPC Class Codes: A61G 5/10 Parts, details or accessories
• CPC Class Codes: A61G 5/1059 adjusting the height of the seat
• CPC Class Codes: A61G 5/1075 tilting the whole seat backwards tilting forwards for standing-up or sitting-down aids A61G5/14
• CPC Class Codes: A61G 5/1089 Anti-tip devices
• CPC Class Codes: A61G 5/12 Rests specially adapted therefor, e.g. for the head or the feet
• CPC Class Codes: A61G 5/128 for feet
• CPC Class Codes: A61G 7/05784 with ventilating means, e.g. mattress or cushion with ventilating holes or ventilators
• CPC Class Codes: B60Y 2200/84 Wheelchairs
• CPC Class Codes: G05B 19/106 for selecting a programme, variable or parameter
• CPC Class Codes: G05B 2219/23128 Switch from one kind of display to other when parameter is changed
• CPC Class Codes: G05B 2219/23129 Animated display, changes as function of parameters
• CPC Class Codes: G05B 2219/23159 Display plurality of parameters simultaneously
• CPC Class Codes: G05B 2219/23193 Memory stores lifetime, different settings, configurations of controlled device
• CPC Class Codes: G05B 2219/23332 Overide stored parameters
• CPC Class Codes: G05B 2219/23388 Mixture of different means, joystick, keys, pedals, fader, potentiometer
• CPC Class Codes: G05B 2219/2637 Vehicle, car, auto, wheelchair
• CPC Class Codes: H02P 21/18 Estimation of position or speed
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A power driven wheelchair and a method for operating same are provided. In one embodiment, the power driven wheelchair includes a system controller with a main controller, a storage device, and at least one input device, a motor assembly, and a common bus. The motor assembly may include a drive motor, a local controller, and a sensor sensing a condition associated with the drive motor and in communication with the local controller. In another embodiment, the power driven wheelchair includes the system controller, an actuator assembly, and the common bus. The actuator assembly may include an actuator mechanism, a local controller, and a sensor sensing a condition associated with the actuator mechanism and in communication with the local controller. Multiple embodiments of the method are related to controlling various arrangements of motor assemblies or actuator assemblies.

Claims

1. A method of operating a power driven wheelchair, including:

activating an input device associated with a system controller associated with the wheelchair;

selecting one or more operating parameters from a plurality of programmable operating parameters based at least in part on the input device activation;

transmitting at least one of the selected operating parameters from the system controller to a first motor assembly in a first message via a bus, the first motor assembly including a first drive motor, a first local controller in operative communication with the first drive motor, and a first sensor sensing a condition associated with the first drive motor and in operative communication with the first local controller;

controlling the first drive motor via the first local controller in response to operating parameters received by the first motor assembly and in relation to the condition sensed by the first sensor;

transmitting at least one of the selected operating parameters from the system controller to a first actuator assembly in a second message via a bus, the first actuator assembly including a first actuator mechanism, a second local controller having circuitry to drive the first actuator mechanism, and a second sensor sensing a condition associated with the first actuator mechanism and in operative communication with the second local controller; and

controlling the first actuator mechanism via the second local controller in response to operating parameters received by the first actuator assembly and in relation to the condition sensed by the second sensor;

wherein the system controller is disposed in a first housing at a first location on the wheelchair, the first local controller is disposed in a second housing at a second location on the wheelchair, and the second local controller is disposed in a third housing at a third location on the wheelchair.

2. The method of claim 1, further including:

transmitting at least one of the selected operating parameters from the system controller to a second motor assembly in a third message via the bus, the second motor assembly including a second drive motor, a third local controller in operative communication with the second drive motor, and a third sensor sensing a condition associated with the second drive motor and in operative communication with the third local controller; and

controlling the second drive motor via the third local controller in response to operating parameters received by the second motor assembly and in relation to the condition sensed by the third sensor;

wherein the third local controller is disposed in a fourth housing at a fourth location on the wheelchair.

3. The method of claim 1 wherein the first actuator assembly includes a second actuator mechanism in operative communication with the second local controller and a third sensor sensing a condition associated with the second actuator mechanism and in operative communication with the second local controller.

4. The method of claim 3, further including:

transmitting at least one of the selected operating parameters from the system controller to the first actuator assembly in a third message via the bus; and

controlling the second actuator mechanism via the second local controller in response to operating parameters received by the first actuator assembly and in relation to the condition sensed by the third sensor.

5. The method of claim 1, further including:

transmitting at least one of the selected operating parameters from the system controller to a second actuator assembly in a third message via the bus, the second actuator assembly including a second actuator mechanism, a third local controller having circuitry to drive the second actuator mechanism, and a third sensor sensing a condition associated with the second actuator mechanism and in operative communication with the third local controller; and

controlling the second actuator mechanism via the third local controller in response to operating parameters received by the second actuator assembly and in relation to the condition sensed by the third sensor;

wherein the third local controller is disposed in a fourth housing at a fourth location on the wheelchair.

6. The method of claim 5 wherein the second actuator assembly includes a third actuator mechanism in operative communication with the third local controller and a fourth sensor sensing a condition associated with the third actuator mechanism and in operative communication with the third local controller.

7. The method of claim 6, further including:

transmitting at least one of the selected operating parameters from the system controller to the second actuator assembly in a fourth message via the bus; and

controlling the third actuator mechanism via the third local controller in response to operating parameters received by the second actuator assembly and in relation to the condition sensed by the fourth sensor.

8. A method of operating a power driven wheelchair, including:

activating an input device associated with a system controller associated with the wheelchair;

selecting one or more operating parameters from a plurality of programmable operating parameters based at least in part on the input device activation;

transmitting at least one of the selected operating parameters from the system controller to a first local controller assembly associated with a first controllable component of the wheelchair in a first message via a bus, the first local controller assembly including a first drive motor or actuator mechanism, a first local controller having circuitry to drive the first drive motor or actuator mechanism, and a first sensor sensing a condition associated with the first drive motor or actuator mechanism and in operative communication with the first local controller; and

controlling the first drive motor or actuator mechanism via the first local controller in response to operating parameters received by the first local controller assembly and in relation to the condition sensed by the first sensor;

wherein the system controller is disposed in a first housing at a first location on the wheelchair and the first local controller is disposed in a second housing at a second location on the wheelchair.

9. The method of claim 8, further including:

transmitting at least one of the selected operating parameters from the system controller to a second local controller assembly associated with a second controllable component of the wheelchair in a second message via a bus, the second local controller assembly including a second drive motor or actuator mechanism, a second local controller having circuitry to drive the second drive motor or actuator mechanism, and a second sensor sensing a condition associated with the second drive motor or actuator mechanism and in operative communication with the second local controller; and

controlling the second drive motor or actuator mechanism via the second local controller in response to operating parameters received by the second local controller assembly and in relation to the condition sensed by the second sensor;

wherein the second local controller is disposed in a third housing at a third location on the wheelchair.

10. The method of claim 9, further including:

transmitting at least one of the selected operating parameters from the system controller to a third local controller assembly associated with a third controllable component of the wheelchair in a third message via a bus, the third local controller assembly including a third drive motor or actuator mechanism, a third local controller having circuitry to drive the third drive motor or actuator mechanism, and a third sensor sensing a condition associated with the third drive motor or actuator mechanism and in operative communication with the third local controller; and

controlling the third drive motor or actuator mechanism via the third local controller in response to operating parameters received by the third local controller assembly and in relation to the condition sensed by the third sensor;

wherein the third local controller is disposed in a fourth housing at a fourth location on the wheelchair.

11. The method of claim 10, further including:

transmitting at least one of the selected operating parameters from the system controller to a fourth local controller assembly associated with a fourth controllable component of the wheelchair in a fourth message via a bus, the fourth local controller assembly including a fourth drive motor or actuator mechanism, a fourth local controller having circuitry to drive the fourth drive motor or actuator mechanism, and a fourth sensor sensing a condition associated with the fourth drive motor or actuator mechanism and in operative communication with the fourth local controller; and

controlling the fourth drive motor or actuator mechanism via the fourth local controller in response to operating parameters received by the fourth local controller assembly and in relation to the condition sensed by the fourth sensor;

wherein the fourth local controller is disposed in a fifth housing at a fifth location on the wheelchair.

12. A method of operating a power driven wheelchair, including:

activating an input device associated with a system controller associated with the wheelchair;

selecting one or more operating parameters from a plurality of programmable operating parameters based at least in part on the input device activation;

programming at least one of the selected operating parameters when the system controller is in a support mode; and

transmitting at least one of the selected operating parameters from the system controller to a first local controller assembly associated with a first controllable component of the wheelchair in a first message via a bus when the system controller is in a normal mode, the first local controller assembly including a first drive motor or actuator mechanism, a first local controller having circuitry to drive the first drive motor or actuator mechanism, and a first sensor sensing a condition associated with the first drive motor or actuator mechanism and in operative communication with the first local controller; and

controlling the first drive motor or actuator mechanism via the first local controller in response to operating parameters received by the first local controller assembly and in relation to the condition sensed by the first sensor;

wherein the system controller is disposed in a first housing at a first location on the wheelchair and the first local controller is disposed in a second housing at a second location on the wheelchair.

13. The method of claim 12, further including:

transmitting at least one of the selected operating parameters from the system controller to a second local controller assembly associated with a second controllable component of the wheelchair in a second message via a bus when the system controller is in the normal mode, the second local controller assembly including a second drive motor or actuator mechanism, a second local controller having circuitry to drive the second drive motor or actuator mechanism, and a second sensor sensing a condition associated with the second drive motor or actuator mechanism and in operative communication with the second local controller; and

controlling the second drive motor or actuator mechanism via the second local controller in response to operating parameters received by the second local controller assembly and in relation to the condition sensed by the second sensor;

wherein the second local controller is disposed in a third housing at a third location on the wheelchair.

14. The method of claim 13, further including:

transmitting at least one of the selected operating parameters from the system controller to a third local controller assembly associated with a third controllable component of the wheelchair in a third message via a bus when the system controller is in the normal mode, the third local controller assembly including a third drive motor or actuator mechanism, a third local controller having circuitry to drive the third drive motor or actuator mechanism, and a third sensor sensing a condition associated with the third drive motor or actuator mechanism and in operative communication with the third local controller; and

controlling the third drive motor or actuator mechanism via the third local controller in response to operating parameters received by the third local controller assembly and in relation to the condition sensed by the third sensor;

wherein the third local controller is disposed in a fourth housing at a fourth location on the wheelchair.

15. The method of claim 14, further including:

transmitting at least one of the selected operating parameters from the system controller to a fourth local controller assembly associated with a fourth controllable component of the wheelchair in a fourth message via a bus when the system controller is in the normal mode, the fourth local controller assembly including a fourth drive motor or actuator mechanism, a fourth local controller having circuitry to drive the fourth drive motor or actuator mechanism, and a fourth sensor sensing a condition associated with the fourth drive motor or actuator mechanism and in operative communication with the fourth local controller; and

controlling the fourth drive motor or actuator mechanism via the fourth local controller in response to operating parameters received by the fourth local controller assembly and in relation to the condition sensed by the fourth sensor;

wherein the fourth local controller is disposed in a fifth housing at a fifth location on the wheelchair.

16. The method of claim 12, wherein the normal mode is a powered driving mode and the first local controller assembly is a first motor assembly.

17. The method of claim 12, wherein the normal mode is a powered seating mode and the first local controller assembly is a first actuator assembly.

18. The method of claim 12, wherein the support mode is a programming mode and the first local controller assembly is a first motor assembly.

19. The method of claim 12, wherein the support mode is a programming mode and the first local controller assembly is a first actuator assembly.